Pipeline Inspection Device

ABSTRACT

A device to inspect a pipeline includes a device housing, a plurality of motors, a plurality of wheels, an inertial measurement unit, and a controller. The plurality of motors is coupled to the device housing. The plurality of wheels extends from the device housing. Each wheel is rotatably coupled to a respective motor. The inertial measurement unit is configured to provide a signal corresponding to an orientation of the device housing relative to the pipeline. The controller is configured to independently control operation of each motor of the plurality of motors based on the signal provided by the inertial measurement unit to maintain the device housing within a desired orientation range relative to the pipeline. Because the controller can independently control each motor of the device, the device can advance along a pipeline with minimal human intervention.

TECHNICAL FIELD

The present disclosure relates generally to robotic inspection devices,and more particularly, to robotic inspection devices for pipelineinspections.

BACKGROUND

Pipelines are used around the world to transport fluids for a multitudeof applications including refineries and power plants. In someapplications, pipelines transport oil or other liquids long distances inremote locations.

Pipelines may be damaged during installation or during the course ofuse. For example, pipelines can develop cracks, corrosion, erosion,and/or other defects. Defects and/or deterioration of the pipeline overtime can lead to the failure of the pipeline. The failure of thepipeline can cause not only a loss of the transported fluid but alsoinjury to persons and the environment. Thus, the integrity of pipelinescan be periodically checked to avoid failures.

Damage to the pipeline can include internal damage, external damage notvisible to the naked eye, and/or damage obscured by a covering orinsulating layer disposed over the pipe. As can be appreciated, certaintypes of damage to the pipeline may be difficult to detect using visualinspection methods and devices.

Therefore, in some applications, pipelines are physically inspected tofind damage that may not be detected using visual inspection methods.Physical inspection methods require physical access to the exteriorand/or interior of the pipe and can require that the insulating layer ofthe pipeline is removed. As a result, physical inspection methods can betime consuming, require high levels of human intervention, and requirerepair of the insulating layer after inspection.

Therefore, what is needed is an apparatus, system or method thataddresses one or more of the foregoing issues, among one or more otherissues.

SUMMARY OF THE INVENTION

A device to inspect a pipeline includes a device housing, a plurality ofmotors, a plurality of wheels, and inertial measurement units, and acontroller. The plurality of motors is coupled to the device housing.The plurality of wheels extend from the device housing. Each wheel isrotatably coupled to a respective motor. The inertial measurement unitis configured to provide a signal corresponding to an orientation of thedevice housing relative to the housing. The controller is configured toindependently control operation of each motor of the plurality of motorsbased on the signal provided by the inertial measurement unit tomaintain the device housing within a desired orientation range relativeto the pipeline. Because the controller can independently control eachmotor of the device, the device can advance along a pipeline withminimal human intervention.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide furtherunderstanding and are incorporated in and constitute a part of thisspecification, illustrate disclosed embodiments and together with thedescription serve to explain the principles of the disclosedembodiments. In the drawings:

FIG. 1 illustrates a perspective view of a pipeline inspection deviceaccording to certain aspects of the present disclosure.

FIG. 2 illustrates a side elevation view of the pipeline inspectiondevice of FIG. 1 disposed on a pipeline.

FIG. 3 illustrates a front elevation view of the pipeline inspectiondevice of FIG. 1 disposed on a pipeline.

FIG. 4 illustrates a graphical user interface for use with the pipelineinspection device according to certain aspects of the presentdisclosure.

DETAILED DESCRIPTION

The present disclosure describes embodiments of a pipeline inspectiondevice and methods of use thereof. As described herein, embodiments ofthe pipeline inspection device and methods of use thereof describedherein address the issues described with respect to traditional pipelineinspection devices and methods.

A pipeline inspection device, such as a pipeline inspection robot orpipeline inspection crawler can be used to inspect a pipeline fordamage. As described herein, a pipeline inspection device can detectdamage that may not be detected from a visible inspection. Further, apipeline inspection device may require less time and human interventionto inspect the pipeline.

However, traditional pipeline inspection devices may not reliably remaincentered on a pipe as the device advances along the pipe. Further,traditional pipeline inspection devices may not reliably navigate aroundcorners or turns of the pipeline. Accordingly, traditional pipelineinspection devices may require personnel to manually intervene tore-center or otherwise re-orientate the device on the pipeline,interrupting the pipeline inspection process.

Additionally, traditional pipeline inspection devices may not provideimages of the pipeline that are detailed enough to allow operators tomake informed decisions whether repairs are required at an area ofinterest for the pipeline. In some applications, traditional pipelineinspection devices may require personnel to manually inspect the pipe atthe area of interest to determine if repairs are needed. During themanual inspection, the personnel may remove the insulating layer in thesurrounding area to manually inspect the pipe at the area of interest.

Therefore, it is desired to provide a pipeline inspection device thatcan remain reliably centered on the pipeline during the inspectionprocess. Further, it is desired to provide a pipeline inspection devicethat can reliably navigate corners or turns of the pipeline whilst stillinspecting the pipe. Additionally, it is desired to provide a pipelineinspection device that can provide sufficient information to an operatorto determine if repairs are needed on the pipeline.

As described herein, embodiments of the pipeline inspection device caninclude independently operated wheels to allow the pipeline inspectiondevice to remain reliably centered on the pipeline and to reliablynavigate corners or turns of the pipeline without human intervention.Further, embodiments of the pipeline inspection device can include animaging device and processor to allow for increased levels of imagedetail compared to traditional pipeline inspection devices and to allowfor automatic recognition of damaged portions of the pipeline withoutrequiring manual inspections.

FIG. 1 illustrates a perspective view of a pipeline inspection device100 according to certain aspects of the present disclosure. FIG. 2illustrates a side elevation view of the pipeline inspection device 100of FIG. 1 disposed on a pipeline 10. With reference to FIGS. 1 and 2, inthe depicted example, a pipeline inspection device 100 can inspect apipeline 10 with minimal human intervention. The pipeline inspectiondevice 100 can include an imaging device 110 and a controller 120disposed within a device housing 102. The device housing 102 can bemoved along the pipeline 10 to allow the imaging device 110 to captureimages along the pipeline 10.

The pipeline inspection device 100 includes a plurality of wheels 130coupled to the device housing 102 to allow the pipeline inspectiondevice 100 to move relative to the pipeline 10. The wheels 130 canextend away from the device housing 102. In some embodiments, thepipeline inspection device 100 includes four wheels 130. Optionally, thepipeline inspection device 100 can utilize wheels, sliders, treads, orother suitable features to allow the device housing 102 to the pipelineinspection device 100 to move relative to the pipeline 10. The wheels130 or other features of the pipeline inspection device 100 can allowthe pipeline inspection device 100 to travel along the pipeline 10 andover support saddles, other structures, and/or imperfections withoutstopping or interrupting the inspection operations of the pipelineinspection device 100 described herein.

In some embodiments, each of the wheels 130 can be independently driven,rotated, or otherwise controlled. For example, each wheel 130 can bedriven by an independent motor 140 rotatably coupled to the wheel 130.An axle 132 extending from the motor 140 can couple a wheel 130 to arespective motor 140.

FIG. 3 illustrates a front elevation view of the pipeline inspectiondevice 100 of FIG. 1 disposed on a pipeline 10. With reference to FIGS.1-3, the pipeline inspection device 100 can be used to inspect pipelines10 including pipes of various diameters. The camber angle C of thewheels 130 can be adjusted relative to the device housing 102 to allowthe wheels 130 of the pipeline inspection device 100 can securelycontact or engage with the surface of pipes of varying diameters. Insome embodiments, the axle 132 connecting the wheel 130 to the motor 140can include a swivel joint 134 to allow the wheel 130 to be disposed ata desired camber angle C relative to the device housing 102 as the wheel130 is rotated. As can be appreciated, each axle 132 can include asimilar swivel joint 134.

During operation, the motors 140 can be operated to advance the pipelineinspection device 100 relative to the pipeline 10, allowing inspectionof the pipeline 10 as the pipeline inspection device 100 is in motion.The speed of the pipeline inspection device 100 can be adjusted to suitthe conditions of the pipeline 10 and/or the parameters of theinspection. As described herein, the pipeline inspection device 100 canbe remotely operated by an operator. The pipeline inspection device 100can be remotely controlled by a tethered device or a wirelesslyconnected device.

In the depicted example, a controller 120 disposed within the devicehousing 102 can control the operation of the wheels 130 to control theposition and advancement of the pipeline inspection device 100 relativeto the pipeline 10. During operation, each motor 140 of the pipelineinspection device 100 can be independently controlled by the controller120 to cooperatively advance and align the pipeline inspection device100 relative to the pipeline 10. In some embodiments, the controller 120can independently operate each motor 140 at a desired speed anddirection to advance and align the pipeline inspection device 100. Ascan be appreciated, each motor 140 can be operated at a different speedand/or direction to provide a desired operation of the pipelineinspection device 100.

Optionally, the controller 120 can utilize signals from inertialmeasurement units (IMUs) 150 to calculate or determine the intendedspeed and direction of each motor 140. The pipeline inspection device100 can include multiple IMUs 150 within the device housing 102 torobustly determine the orientation of the pipeline inspection device 100relative to the pipeline. In some embodiments, the pipeline inspectiondevice 100 includes a single IMU 150 associated with the device, an IMU150 associated with each axle 132 of the pipeline inspection device 100,or an IMU 150 associated with each wheel 130 of the pipeline inspectiondevice 100. The IMUs 150 can include various sensors, including, but notlimited to gyroscopic sensors, accelerometers, magnetometers (e.g.triaxial magnetometers), etc. In the depicted example, the data from theIMU 150 can allow the controller 120 to determine the speed of thepipeline inspection device 100, the heading of the pipeline inspectiondevice 100, and other parameters related to the status of the pipelineinspection device 100. The pipeline inspection device 100 can furtherinclude other sensors, such as wheel speed encoders to provideadditional data to the controller 120. Advantageously, sensors such asthe IMU 150 and the wheel speed sensors can allow the controller 120 todetect outside interference or changes in parameters, including wheelslip, wind, uneven pipe surfaces, etc.

The configuration or programming of the controller 120 can allow for thepipeline inspection device 100 to navigate turns, elbows, or bends alongthe pipeline 10. In the depicted example, the controller 120 caninterpret input (such as start, stop, forward, and/or back commands)from an operator and utilize one or more algorithms to control theoperation of the pipeline inspection device 100. In some applications,the controller 120 can verify operation parameters via feedback fromIMUs 150, wheel speed sensors, and/or sub-routines that allows forself-correction of the motion of the pipeline inspection device 100. Forexample, the controller 120 may receive a start (forward or backward)command from an operator to initiate travel or motion of the inspectiondevice and then utilize feedback from the IMUs 150 and/or controlalgorithms of the controller 120 to navigate the path of the pipeline 10and/or negotiate obstacles or imperfections of the pipeline 10.

Upon encountering a turn, such as an elbow turn in the pipeline 10, thecontroller 120 can utilize various parameters (e.g. pipe OD, elbowturning ratio, target speed, etc.) to provide speed commands and/oradjust the rotation of the wheels of the pipeline inspection device 100.In some embodiments, the control signals for balancing and turning thepipeline inspection device 100 can be linearly overlaid, allowing thepipeline inspection device 100 to simultaneously turn and remainbalanced on the pipeline 10. As described herein, the operationalparameters of the pipeline inspection device 100 can be set via agraphical user interface. In some embodiments, the graphical userinterface can be used to provide override commands.

Upon encountering an obstacle, the controller 120 can direct thepipeline inspection device 100 to tilt toward one side of the pipeline10 and utilize feedback signals from the IMUs 150 to calculate andprovide speed commands and/or adjust the rotation of the wheels of thepipeline inspection device 100 to balance the pipeline inspection device100. Signals from the IMUs 150 can include, but are not limited to themagnitude of the tilting angle, the duration of the tilting angle, etc.

The controller 120 may prioritize commands from the operator and/orvarious safety sub-routines. Further, the controller 120 can adjust theoperation of the pipeline inspection device 100 based on outsideinterference or changes in parameters, including wheel slip, wind,uneven pipe surfaces, etc.

During operation, the controller 120 can operate the motors 140 atdifferent speeds to allow the pipeline inspection device 100 tonegotiate pipe shapes or bends. For example, the motors 140 of the leftside of the pipeline inspection device 100 can be rotated or acceleratedat a faster rate than the motors 140 of the right side of the pipelineinspection device 100, allowing the pipeline inspection device 100 tofollow a pipeline 10 that turns toward the right. Each wheel 130 or axleunit can be independently controlled. In another example, the motors 140of the front axle can be rotated or accelerated at a different rate thanthe motors 140 of the rear axle of the pipeline inspection device 100,allowing the pipeline inspection device 100 to negotiate changes ininclination (z-axis) of the pipeline 10.

Advantageously, by allowing for different wheel speeds and/or directionsfor each of the wheels 130 of the pipeline inspection device 100, thepipeline inspection device 100 can navigate and inspect complex pipelinelayouts or paths with minimal human intervention.

Further, the configuration or programming of the controller 120 canallow for the pipeline inspection device 100 to self-balance orself-align on an upper portion or top of the pipeline 10. In thedepicted example, the controller 120 can utilize feedback from the IMUs150 to determine the tilt of the pipeline inspection device 100 relativeto the pipeline 10 and operate one or more motors 140 to maintain and/orre-align the pipeline inspection device 100 at the top of the pipeazimuth position P. In some embodiments, the sensitivity of thecontroller 120 in response to feedback from the IMU's 150 can beadjusted for varying pipeline diameters, pipeline conditions, andstraight and/or curved (e.g. elbows) pipelines 10.

The controller 120 can monitor signals or feedback from the IMUs 150 todetermine if the pipeline inspection device 100 has departed from adetermined tilt range T. In some embodiments, the tilt range T can be+/−15 degrees from a center line of the vertical plane. As can beappreciated, the tilt range T can be predefined, varied, or adjusted forvarying curvature planes, pipeline conditions, and inspectionparameters. In some embodiments, the controller 120 and/or the pipelineinspection device 100 can be configured to travel along the pipeline 10at an offset angle relative to the top of the pipe.

In response to a determination that the pipeline inspection device 100has exceeded the determined tilt range T, the controller 120 can operateone or more motors 140 to reposition the pipeline inspection device 100.For example, if the pipeline inspection device 100 has tilted too fartoward the left side of the pipe, the controller 120 can operate theleft side motors 140 while deactivating the right side motors 140,allowing the pipeline inspection device 100 to be realigned toward thetop of the pipeline.

In some applications, in response to a determination that the pipelineinspection device 100 has exceeded the determined tilt range T, theoperation of the pipeline inspection device 100 can be disabled to avoiddamage to the pipeline inspection device 100. As can be appreciated, the“fail-safe” tilt range T can be varied or adjusted for pipelineconditions and inspection parameters.

Further, the controller 120 can utilize pitch or inclination data fromthe IMUs 150 to control the ascending and/or descending movement of thefront and rear wheels 130 of the pipeline inspection device 100.Advantageously, the controller 120 can utilize the inclination data tocontrol the operation of the pipeline inspection device 100 overelevation changes of the pipeline.

During operation, the controller 120 can utilize self-learning ormachine learning routines to optimize the operation of the pipelineinspection device 100 for various pipeline conditions. For example, thecontroller 120 can self-learn or adapt to allow the pipeline inspectiondevice 100 to remain in a determined tilt range with minimal deviationfrom the top azimuth of the pipeline.

Advantageously, the independent control of the wheels 130 via thecontroller 120 allow for high levels of autonomous operation of thepipeline inspection device 100 without human intervention orinterruption.

The controller 120 can collect and record operational data regarding thepipeline inspection device 100. For example, the controller 120 maycollect and record the rotational speed of each of the wheels 130, thetilt angle of the pipeline inspection device 100, the crawlingdirection, encoded distance traveled, and/or commands received by theoperator. As described herein, operational data may be overlaid withimaging or inspection data captured by the pipeline inspection device100.

Optionally, the controller 120 can monitor or inspect the distributionof power within the pipeline inspection device 100. For example, thecontroller 120 can monitor the state of charge of the onboard battery160 and/or the power usage of the components of the pipeline inspectiondevice 100. In some embodiments, the controller 120 can provide awarning to the operator if the state of charge of the battery 160 isbelow a desired level and/or the power usage of the components of thepipeline inspection device 100 exceeds a specified threshold.

In some embodiments, the controller software is integrated with otherfunctions of the pipeline inspection device 100. Optionally, theprogramming of the controller 120 and or the pipeline inspection device100 can be updated remotely or via a network.

In the depicted example, the pipeline inspection device 100 includes oneor more imaging devices 110 to allow for non-destructive inspection ofthe pipeline 10 as the pipeline inspection device 100 is advanced. Insome embodiments, the imaging device 110 can be an x-ray device, orother suitable device.

The imaging devices 110 can provide an imaging signal to an imageprocessor 20 associated with the pipeline inspection device 100. In someembodiments, the image processor 20 can be disposed at a location remoteto the pipeline inspection device 100. The image processor 20 can beconfigured to automatically adjust and/or calibrate to process imagesignals from the imaging device 110 to provide detailed imaging of thinwalled pipe, thick walled pipe, heavy walled pipe, pipe under insulation(wet or dry), and pipe filled with static or dynamic fluids, such asoil, gas, and/or water (including three phase product and flowundergoing slugging). Various calibration techniques can be utilizedbased on operating conditions and requirements. Advantageously, theimaging device 110 and the image processor 20 can provide images withsufficient levels of detail to allow the operator to determine if thepipeline is damaged (e.g. corrosion) and/or if the pipeline requiresrepair.

Optionally, the image processor 20 can process image signals to detectand analyze pipeline damage D (e.g. corrosion) and/or determine theremaining wall thickness W of the pipeline 10 wall. In someapplications, the image processor 20 can process image signals to detectpipeline damage D, such as corrosion, to infer the loss of wallthickness W on the outside of the pipe. The image processor 20 mayidentify or recognize defects by measuring the differential orattenuation of radiation transmission through the pipeline 10 material.For example, the inspection device 100 may utilize automated tangentialradiography (ATRT) to tangentially image between the insulation and thepipe wall to detect and analyze pipeline damage D and infer the loss ofwall thickness W. Advantageously, ATRT can be used to identify pipelinedamage D internal to the pipeline 10, external to the pipeline 10,and/or to identify water under insulation of the pipeline 10.

Further, the image processor 20 can process image signals to detect thelocation of water within insulation material covering the outside of thepipeline. The image processor 20 may further identify areas of thepipeline 10 that require repair. In some embodiments, the imageprocessor 20 can provide analysis of pipeline damage D automaticallyand/or with minimal human intervention.

For example, the image processor 20 can identify a reduction in wallthickness W by locating, identifying, and measuring neighboring pixelsprovided by the imaging device 110. In some embodiments, the imageprocessor 20 can allow for real time radiography (RTR) techniques to beutilized. The image processor 20 may be able to automatically identify areduction in wall thickness W by locating, identifying, and measuringdifferences in wall thickness within an imaging area or region ofinterest defined by a plurality of pixels (e.g. an imaging area of 25pixels or less). In some embodiments, the image processor 20 may be ableto identify a reduction in wall thickness W by locating, identifying,and measuring differences in wall thickness in a smaller region ofinterest, for example region of interest of 9 pixels or less.

For example, the image processor 20 can compare the relativebrightness/darkness (gray level) of neighboring pixels to determineareas with reduced wall thickness. The image processor 20 can identify areduction in wall thickness W across the image by analyzing multipleregions of interest of the image. In some embodiments, the regions ofinterest may overlap.

During operation, data from the image processor 20 can be recorded forlogging and/or review by an operator. In some embodiments, the data fromthe image processor 20 can be transmitted to an operator for real-timeobservation. Data can be recorded and/or transmitted in a wide range offormats (e.g. TIFF and/or DICONDE standard formats). In someembodiments, the data can be reformatted or adjusted to provide imagesin a desired image size, multiple images merged and/or spliced togetherin sequence. Optionally, the data can be dynamically filtered and/oroverlaid with additional data, such as distance travelled data or othercapture parameters.

In some embodiments, the pipeline inspection device 100 and/or theimaging devices 110 can be remotely operated by an operator. In someembodiments, the pipeline inspection device 100 operates autonomously,with minimal to no human intervention. Optionally, an operator cancontrol certain aspects of operation of the pipeline inspection device100 and/or the imaging device 110 while other aspects of operation areautonomously controlled by the pipeline inspection device 100.

The pipeline inspection device 100 can be tethered to a remote controldevice 30 via a cable or wirelessly connected to a remote controldevice. In some embodiments, if a tethered or wireless communicationlink is broken or compromised, the motors 140 of the pipeline inspectiondevice 100 may be stopped. Further, power to an onboard air compressor170 and/or other components of the pipeline inspection device 100 can beinterrupted.

Optionally, the remote operation can be integrated into an inspectionsoftware program executed on a remote computing device or remote controldevice 30. FIG. 4 illustrates a graphical user interface 200 for usewith the pipeline inspection device 100 according to certain aspects ofthe present disclosure. With reference to FIG. 4, an operator caninteract with the pipeline inspection device 100 via a graphical userinterface 200 displayed by the remote control device 30. The graphicaluser interface 200 allows the operator to provide inputs or commands 210to the controller 120 of the pipeline inspection device 100 and receivedata from the controller 120 of the pipeline inspection device 100.

For example, the graphical user interface can receive commands 210 fromthe operator and provide these inputs to the controller 120 of thepipeline inspection device 100. Further, the graphical user interfacecan receive and process override interrupt and/or emergency stopcommands 212.

The graphical user interface 200 can further provide feedback or signalsto the operator. For example, the graphical user interface can providefeedback regarding the operating parameters 220 of the pipelineinspection device 100. In some embodiments, the graphical user interfacecan provide a signal or alert if critical parameters deviate from anominal value (e.g. low battery state of charge) or if communicationbetween the remote control device 30 and the pipeline inspection device100 is terminated or otherwise compromised.

It is understood that variations may be made in the foregoing withoutdeparting from the scope of the present disclosure. In several exemplaryembodiments, the elements and teachings of the various illustrativeexemplary embodiments may be combined in whole or in part in some or allof the illustrative exemplary embodiments. In addition, one or more ofthe elements and teachings of the various illustrative exemplaryembodiments may be omitted, at least in part, and/or combined, at leastin part, with one or more of the other elements and teachings of thevarious illustrative embodiments.

Any spatial references, such as, for example, “upper,” “lower,” “above,”“below,” “between,” “bottom,” “vertical,” “horizontal,” “angular,”“upwards,” “downwards,” “side-to-side,” “left-to-right,”“right-to-left,” “top-to-bottom,” “bottom-to-top,” “top,” “bottom,”“bottom-up,” “top-down,” etc., are for the purpose of illustration onlyand do not limit the specific orientation or location of the structuredescribed above.

In several exemplary embodiments, while different steps, processes, andprocedures are described as appearing as distinct acts, one or more ofthe steps, one or more of the processes, and/or one or more of theprocedures may also be performed in different orders, simultaneouslyand/or sequentially. In several exemplary embodiments, the steps,processes, and/or procedures may be merged into one or more steps,processes and/or procedures.

In several exemplary embodiments, one or more of the operational stepsin each embodiment may be omitted. Moreover, in some instances, somefeatures of the present disclosure may be employed without acorresponding use of the other features. Moreover, one or more of theabove-described embodiments and/or variations may be combined in wholeor in part with any one or more of the other above-described embodimentsand/or variations.

Although several exemplary embodiments have been described in detailabove, the embodiments described are exemplary only and are notlimiting, and those skilled in the art will readily appreciate that manyother modifications, changes and/or substitutions are possible in theexemplary embodiments without materially departing from the novelteachings and advantages of the present disclosure. Accordingly, allsuch modifications, changes, and/or substitutions are intended to beincluded within the scope of this disclosure as defined in the followingclaims. In the claims, any means-plus-function clauses are intended tocover the structures described herein as performing the recited functionand not only structural equivalents, but also equivalent structures.Moreover, it is the express intention of the applicant not to invoke 35U.S.C. § 112, paragraph 6 for any limitations of any of the claimsherein, except for those in which the claim expressly uses the word“means” together with an associated function.

1. A device to inspect a pipeline, the device comprising: a devicehousing; a plurality of motors coupled to the device housing; aplurality of wheels extending from the device housing, wherein eachwheel is rotatable and coupled to a respective motor of the plurality ofmotors; an inertial measurement unit configured to provide a signalcorresponding to an orientation of the device housing relative to thepipeline; and a controller configured to independently control operationof each motor of the plurality of motors based on the signal provided bythe inertial measurement unit to maintain the device housing within adesired orientation range relative to the pipeline.
 2. The device ofclaim 1, wherein the desired orientation range comprises a desired tiltrange.
 3. The device of claim 1, wherein the controller is furtherconfigured to independently control operation of each motor of theplurality of motors based on the signal provided by the inertialmeasurement unit to advance the device housing relative to the pipeline.4. The device of claim 3, wherein the controller is further configuredto independently control operation of each motor of the plurality ofmotors based on the signal provided by the inertial measurement unit toadvance the device housing around a horizontal bend in the pipeline. 5.The device of claim 1, wherein the controller is further configured tooperate a first motor of the plurality of motors at a first speed and tooperate a second motor of the plurality of motors at a second speed,wherein the first speed is different than the second speed.
 6. Thedevice of claim 1, wherein a wheel of the plurality of wheels isdisposed at a camber angle relative to the device housing.
 7. The deviceof claim 6, wherein the camber angle is adjustable.
 8. The device ofclaim 7, further comprising an axle rotatably coupling the wheel to therespective motor of the plurality of motors.
 9. The device of claim 8,wherein the axle comprises a swivel joint to adjust the camber angle ofthe wheel relative to the device housing.
 10. The device of claim 1,wherein the inertial measurement unit comprises an accelerometer.
 11. Adevice to inspect a pipeline, the device comprising: a device housing; aplurality of wheels extending from the device housing, wherein eachwheel is rotatably coupled to the device housing; a motor coupled to atleast one wheel of the plurality of wheels, wherein the motor isconfigured to advance the device housing relative to the pipeline; animaging device directed toward the pipeline configured to provide animaging signal; and a processor configured to identify a remaining wallthickness of the pipeline based on the imaging signal provided by theimaging device.
 12. The device of claim 11, wherein the processor isfurther configured to identify the remaining wall thickness of thepipeline, within a region of interest comprising of a plurality ofpixels.
 13. The device of claim 12, wherein the region of interest isless than or equal to 25 pixels.
 14. The device of claim 12, wherein theregion of interest is less than or equal to 9 pixels.
 15. The device ofclaim 11, wherein the processor is further configured to identify theremaining wall thickness of the pipeline, wherein the pipeline includesdamage internal to the pipeline.
 16. The device of claim 11, wherein theprocessor is further configured to identify the remaining wall thicknessof the pipeline, wherein the pipeline includes external corrosion. 17.The device of claim 11, wherein the processor is further configured toidentify the remaining wall thickness of the pipeline, wherein thepipeline comprises water-saturated insulation surrounding the pipeline.18. The device of claim 11, wherein the processor is further configuredto identify the remaining wall thickness of the pipeline, wherein thepipeline comprises heavy-walled pipe.
 19. The device of claim 11,wherein the processor is further configured to identify the remainingwall thickness of the pipeline, wherein the pipeline contains at leastone of gas, water, and oil.
 20. The device of claim 19, wherein the atleast one of gas, water, and oil is in motion within the pipeline. 21.The device of claim 11, wherein the processor is further configured toidentify corrosion on an exterior surface of the pipeline and determinethe remaining wall thickness of the pipeline.
 22. The device of claim21, wherein the exterior surface includes an insulation coating of thepipeline.
 23. The device of claim 22, wherein the processor is furtherconfigured to identify a location of moisture contained within theinsulation coating of the pipeline.
 24. A method to inspect a pipeline,the method comprising: advancing a pipeline inspection device along thepipeline by independently rotating a plurality of motorized wheels;obtaining an imaging signal from an imaging device directed toward thepipeline; and identifying a remaining wall thickness of the pipelinebased on the imaging signal provided by the imaging device.
 25. Themethod of claim 24, further comprising maintaining the pipelineinspection device within a desired orientation range relative to thepipeline by independently rotating the plurality of motorized wheels.26. The method of claim 24, further comprising independently controllingoperation of each motorized wheel of the plurality of motorized wheelsbased on a signal provided by an inertial measurement unit.
 27. Themethod of claim 24, further comprising identifying the remaining wallthickness based on an area of an image created by the imaging signalprovided by the imaging device, wherein the area of the imaging signalis less than or equal to 25 pixels.
 28. The method of claim 27, whereinthe area of the image is less than or equal to 9 pixels.
 29. The methodof claim 24, further comprising identifying the remaining wallthickness.